FiM

├── Chap5.mdl ├── Chap5.mdl.r2019a ├── Chap_36.m ├── LICENSE ├── README.md ├── Reftra2.mat ├── chapter5.cpar ├── func_Model_linearization_Jacobian.m └── simfile.sim /Chap5.mdl: -------------------------------------------------------------------------------- 1 | # MathWorks OPC Text Package 2 | Model { 3 | Version 10.4 4 | Description "Simulink model saved in R2021b" 5 | } 6 | __MWOPC_PACKAGE_BEGIN__ R2021b 7 | __MWOPC_PART_BEGIN__ /[Content_Types].xml 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | __MWOPC_PART_BEGIN__ /_rels/.rels 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | __MWOPC_PART_BEGIN__ /metadata/coreProperties.xml 40 | 41 | 42 | model 43 | 2020-03-25T04:35:53Z 44 | 陈莹 45 | Ding Qi 46 | 2021-12-28T17:31:51Z 47 | 6.2 48 | R2021b 49 | 50 | 51 | __MWOPC_PART_BEGIN__ /metadata/mwcoreProperties.xml 52 | 53 | 54 | application/vnd.mathworks.simulink.model 55 | Simulink Model 56 | R2021b 57 | 58 | 59 | __MWOPC_PART_BEGIN__ /metadata/mwcorePropertiesExtension.xml 60 | 61 | 62 | c6f3f198-facc-47c2-8b4a-d4274a95d96f 63 | 64 | 65 | __MWOPC_PART_BEGIN__ /metadata/mwcorePropertiesReleaseInfo.xml 66 | 67 | 68 | 69 | 9.11.0.1769968 70 | R2021b 71 | 72 | Sep 17 2021 73 | 1352738076 74 | 75 | 76 | __MWOPC_PART_BEGIN__ /simulink/_rels/blockdiagram.xml.rels 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | __MWOPC_PART_BEGIN__ /simulink/_rels/configSetInfo.xml.rels 90 | 91 | 92 | 93 | 94 | 95 | __MWOPC_PART_BEGIN__ /simulink/bddefaults.xml 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 |

none

108 |

Inherit: auto

109 |

off

110 | 111 | 112 |

113 |

114 |

Sample based

115 |

[]

116 |

[]

117 |

Inherit: Inherit from 'Constant value'

118 |

off

119 |

inf

120 |

inf

121 |

off

122 | 123 | 124 |

Dialog

125 |

126 |

100

127 |

Dialog

128 |

0.0

129 |

None

130 |

off

131 |

off

132 |

None

133 |

off

134 |

Elements as channels (sample based)

135 |

off

136 |

-1

137 |

off

138 | 139 | 140 |

141 |

bar

142 |

off

143 | 144 | 145 |

sin(u[1])

146 |

-1

147 | 148 | 149 |

recordout

150 |

recording.mldatx

151 |

off

152 |

off

153 |

data

154 |

{"entries":[],"packageUris":[],"version":"1.0"}

155 |

Auto

156 |

{"entries":[],"packageUris":[],"version":"1.0"}

157 |

{}

158 | 159 | 160 |

system

161 |

162 |

[]

163 |

auto

164 | 165 | 166 |

Simulink.scopes.TimeScopeBlockCfg

167 | 168 | 169 |

simulink_output

170 |

1000

171 |

172 |

Array

173 |

3-D array (concatenate along third dimension)

174 |

off

175 |

176 |

177 | 178 | 179 | 180 | 181 | __MWOPC_PART_BEGIN__ /simulink/bdmxdata/CanvasColor_15.mxarray BASE64 182 | AAFJTQAAAAAOAAAASAAAAAYAAAAIAAAABgAAAAAAAAAFAAAACAAAAAEAAAADAAAAAQAAAAAAAAAJ 183 | AAAAGAAAAF9fX19fX+8/X19fX19f7z9fX19fX1/vPw== 184 | __MWOPC_PART_BEGIN__ /simulink/bdmxdata/FrameSettings_15.mxarray BASE64 185 | AAFJTQAAAAAOAAAAMAAAAAYAAAAIAAAACQIAAAAAAAAFAAAACAAAAAEAAAACAAAAAQAAAAAAAAAC 186 | AAIAAAAAAA== 187 | __MWOPC_PART_BEGIN__ /simulink/bdmxdata/NumPorts_15.mxarray BASE64 188 | AAFJTQAAAAAOAAAAOAAAAAYAAAAIAAAABgAAAAAAAAAFAAAACAAAAAEAAAABAAAAAQAAAAAAAAAJ 189 | AAAACAAAAAAAAAAAAABA== 190 | __MWOPC_PART_BEGIN__ /simulink/blockdiagram.xml 191 | 192 | 193 | 194 |

3e83e4e4-6046-4274-bcb1-37a1abeb0193

195 |

win64

196 | 197 |

%<Auto>

198 |

%<Auto>

199 |

562640935

200 |

%<AutoIncrement:6.2>

201 | 202 | 203 |

204 | 205 | 206 |

normal

207 |

217 | 218 | 219 |

warning

220 | 221 | 222 |

228 | 229 | 230 | 231 | 232 | 233 | __MWOPC_PART_BEGIN__ /simulink/configSet0.xml 234 | 235 | 236 |

965 | 966 | 967 | __MWOPC_PART_BEGIN__ /simulink/configSetInfo.xml 968 | 969 | 970 | Configuration 971 | 972 | 973 | __MWOPC_PART_BEGIN__ /simulink/graphicalInterface.xml 974 | 975 | 976 |

977 |

978 |

979 |

980 |

981 |

982 |

983 |

984 |

985 |

986 |

Unset

987 |

988 |

Simulink

989 |

990 |

991 | 992 |

Solver_SF/CarSim S-Function

993 |

$bdroot/CarSim S-Function

994 |

995 |

LIBRARY_BLOCK

996 | 997 |

998 | 999 | 1000 | __MWOPC_PART_BEGIN__ /simulink/modelDictionary.xml 1001 | 1002 | 1003 | 1004 | 1005 | 1006 | 1007 | __MWOPC_PART_BEGIN__ /simulink/ScheduleCore.xml 1008 | 1009 | 1010 | 1011 | HighNumberLast 1012 | 1013 | true 1014 | 1015 | 1016 | 1017 | 1018 | false 1019 | Default 1020 | -2147483648 1021 | 1022 | 1023 | true 1024 | 1025 | false 1026 | 1 1027 | true 1028 | FiM 1029 | 40 1030 | 1031 | FiM 1032 | -2139062017 1033 | ZOHContinuous01 1034 | 1035 | 1.0 1036 | 0.0 1037 | 1038 | 0 1039 | 1040 | 1041 | D1 1042 | -436207361 1043 | true 1044 | 1045 | .0005 1046 | 1047 | 1 1048 | 1049 | 1050 | D2 1051 | 13697279 1052 | true 1053 | 1054 | .05 1055 | 1056 | 2 1057 | 1058 | 1059 | 1060 | 1061 | 1062 | 1063 | __MWOPC_PART_BEGIN__ /simulink/ScheduleEditor.xml 1064 | 1065 | 1066 | 1067 | 1068 | 0,0 1069 | 0,0,0,0 1070 | 1071 | FiM 1072 | base 1073 | 1074 | 0,0 1075 | 1076 | FiM 1077 | graph.Graph 1078 | 1079 | 1080 | 1081 | Default 1082 | graph.Graph 1083 | 1084 | 1085 | 1086 | 1087 | 40 1088 | 1089 | #808080 1090 | [0, 1] 1091 | FiM 1092 | 1093 | 1094 | #e60000 1095 | true 1096 | 0.0005 1097 | D1 1098 | 1099 | 1100 | #00d100 1101 | true 1102 | 0.05 1103 | D2 1104 | 1105 | FiM 1106 | base 1107 | 1108 | 1109 | FiM 1110 | 1111 | 1112 | 1113 | Default 1114 | 1115 | 1116 | 1117 | 1118 | __MWOPC_PART_BEGIN__ /simulink/systems/system_root.xml 1119 | 1120 | 1121 |

[-7, -7, 2055, 1111]

1122 |

[0.000000, 0.000000, 0.000000, 0.000000]

1123 |

1124 |

off

1125 |

Deduce

1126 |

125

1127 |

simulink-default.rpt

1128 |

1129 |

Simulink

1130 | 1131 |

[4, 1]

1132 |

[940, -577, 945, -493]

1133 |

1134 |

off

1135 |

1136 |

bar

1137 |

1138 | 1139 | 1140 |

[1, 1]

1141 |

[1055, -591, 1155, -529]

1142 |

1143 |

off

1144 |

1145 |

1.20

1146 |

Arial

1147 |

1148 |

Solver_SF/CarSim S-Function

1149 |

Vehicle math model library

1150 |

CarSim S-Function

1151 | 1152 |

auto

1153 |

simfile.sim

1154 | 1155 | 1156 | 1157 |

[825, -520, 855, -490]

1158 |

1159 |

off

1160 |

1161 | 1162 | 1163 |

[1, 1]

1164 |

[1278, -640, 1312, -605]

1165 |

1166 |

270

1167 |

right

1168 |

off

1169 |

1170 |

1171 |

1172 | 1173 | 1174 |

[1, 8]

1175 |

[1340, -642, 1355, -498]

1176 |

1177 |

off

1178 |

1179 | 1180 |

1181 |

y_dot

1182 | 1183 | 1184 |

1185 |

x_dot

1186 | 1187 | 1188 |

1189 |

phi

1190 | 1191 | 1192 |

1193 |

phi_dot

1194 | 1195 | 1196 |

1197 |

1198 | 1199 | 1200 |

1201 |

1202 | 1203 | 1204 |

1205 |

slip ratio

1206 | 1207 | 1208 |

1209 |

slip ratio

1210 | 1211 | 1212 | 1213 |

[840, -650, 870, -590]

1214 |

1215 |

270

1216 |

1217 |

left

1218 |

off

1219 |

u*180/pi

1220 | 1221 | 1222 |

[1, 1]

1223 |

[1055, -693, 1205, -637]

1224 |

1225 |

1226 |

top

1227 |

off

1228 |

MPC_CONTROL

1229 |

off

1230 |

off

1231 |

off

1232 | 1233 |

1234 |

delta

1235 | 1236 | 1237 | 1238 |

[1]

1239 |

[734, -460, 796, -420]

1240 |

1241 |

270

1242 |

1243 |

left

1244 |

off

1245 |

Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sources','WiredSimulink',true),extmgr.Configuration('Visuals','Time Domain',true,'SerializedDisplays',{struct('MinYLimReal','-3.5691','MaxYLimReal','2.19298','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','3.5691','LegendVisibility','On','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',1,'LineNames',{{'Fcn'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-3.5691','MaxYLimReal','2.19298','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','3.5691','LegendVisibility','On','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.392156862745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863])),extmgr.Configuration('Tools','Plot Navigation',true,'PreviousAutoscale','XY'),extmgr.Configuration('Tools','Measurements',true,'Version','2019a','Measurements',struct('triggers',struct('Mode','Auto','Position',0.5,'Type','Edge','Polarity','Positive','AutoLevel',true,'Level',-3.32695545159157,'Hysteresis',0,'UpperLevel',2.3,'LowerLevel',0.2,'MinTime',0,'MaxTime',Inf,'Timeout',0,'Delay',0,'Holdoff',0,'SourceOffset',1,'MainPanelOpen',1,'TypePanelOpen',1,'SettingsPanelOpen',1,'OffsetPanelOpen',1)))),'Version','2021b','Position',[48 8 1440 794.6])

1246 |

1247 |

off

1248 | 1249 | 1250 |

[1]

1251 |

[1004, -460, 1066, -420]

1252 |

1253 |

270

1254 |

1255 |

left

1256 |

off

1257 |

Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sources','WiredSimulink',true,'DataLoggingVariableName','ScopeData1'),extmgr.Configuration('Visuals','Time Domain',true,'SerializedDisplays',{struct('MinYLimReal','-4.60314','MaxYLimReal','7.38854','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','7.38854','LegendVisibility','On','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{struct('Visible','on'),struct('Visible','on'),struct('Visible','off'),struct('Visible','off')}},'UserDefinedChannelNames',{{}},'NumLines',4,'LineNames',{{'Fcn','Fcn','Constant','Constant'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-4.60314','MaxYLimReal','7.38854','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','7.38854','LegendVisibility','On','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.392156862745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863])),extmgr.Configuration('Tools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,'Version','2019a')),'Version','2021b','Position',[48 8 1440 794.6])

1258 |

1259 |

off

1260 | 1261 | 1262 |

[6]

1263 |

[1540, -650, 1590, -530]

1264 |

1265 |

off

1266 |

Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sources','WiredSimulink',true,'DataLoggingVariableName','ScopeData2'),extmgr.Configuration('Visuals','Time Domain',true,'SerializedDisplays',{struct('MinYLimReal','-43.73417','MaxYLimReal','226.19125','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','226.19125','LegendVisibility','On','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{struct('Visible','on'),struct('Visible','on'),struct('Visible','on'),struct('Visible','on'),struct('Visible','on'),struct('Visible','on')}},'UserDefinedChannelNames',{{}},'NumLines',6,'LineNames',{{'y_dot','x_dot','phi','phi_dot','Y','X'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-43.73417','MaxYLimReal','226.19125','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','226.19125','LegendVisibility','On','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.392156862745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863])),extmgr.Configuration('Tools','Plot Navigation',true,'PreviousAutoscale','XY'),extmgr.Configuration('Tools','Measurements',true,'Version','2021b')),'Version','2021b','Position',[604.2 223.4 820.8 603.2])

1267 |

1268 |

off

1269 | 1270 | 1271 |

[2]

1272 |

[1275, -471, 1315, -409]

1273 |

1274 |

1275 |

top

1276 |

off

1277 |

Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sources','WiredSimulink',true,'DataLoggingVariableName','ScopeData3'),extmgr.Configuration('Visuals','Time Domain',true,'SerializedDisplays',{struct('MinYLimReal','-0.00251','MaxYLimReal','0.0034','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.0034','LegendVisibility','On','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',2,'LineNames',{{'slip ratio','slip ratio'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-0.00251','MaxYLimReal','0.0034','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.0034','LegendVisibility','On','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.392156862745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863])),extmgr.Configuration('Tools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,'Version','2021b')),'Version','2021b','Position',[785.8 401 560 420])

1278 |

1279 |

off

1280 | 1281 | 1282 |

[1]

1283 |

[660, -650, 720, -620]

1284 |

1285 |

1286 |

top

1287 |

off

1288 |

1289 |

inf

1290 |

Timeseries

1291 |

1292 |

-1

1293 | 1294 | 1295 |

[1]

1296 |

[1175, -415, 1205, -355]

1297 |

1298 |

270

1299 |

1300 |

left

1301 |

off

1302 |

1303 |

inf

1304 |

2-D array (concatenate along first dimension)

1305 |

1306 |

-1

1307 | 1308 | 1309 |

[1]

1310 |

[1490, -355, 1550, -325]

1311 |

1312 |

off

1313 |

DQX

1314 |

inf

1315 |

1316 |

-1

1317 | 1318 | 1319 |

[1]

1320 |

[1605, -515, 1665, -485]

1321 |

1322 |

off

1323 |

DQY

1324 |

inf

1325 |

1326 |

-1

1327 | 1328 | 1329 |

[2]

1330 |

[1545, -430, 1580, -400]

1331 |

1332 |

270

1333 |

1334 |

left

1335 |

off

1336 |

1337 |

{"entries":[{"content":{"excelSettings":{"content":{},"type":"Streamout.ExcelSettings"}},"type":"Streamout.FileSettingStorage","uuid":"f0809fd2-56fe-49d8-92fc-549095d56e45"}],"packageUris":["http://schema.mathworks.com/mf0/streamout_blocks/R2020a"],"version":"1.0"}

1338 |

1339 |

[1 1]

1340 |

{"entries":[{"content":{"signals":[{"content":{"blockPath":["Chap5/XY Graph"],"channel":[],"dimensions":[1],"domain":"Chap5/XY Graph","lineColor":"#a2142f","plots":[1],"port":1,"sid":[""],"signalID":3361,"signalName":"X"},"type":"RecordBlkView.Signal","uuid":"10b3524e-ea33-4e3e-ba61-a812497960a0"},{"content":{"blockPath":["Chap5/XY Graph"],"channel":[],"dimensions":[1],"domain":"Chap5/XY Graph","lineColor":"#139fff","plots":[1],"port":2,"sid":[""],"signalID":3365,"signalName":"Y"},"type":"RecordBlkView.Signal","uuid":"90a31e6f-4558-4600-8cb0-8b7f5f765a67"}]},"type":"RecordBlkView.InputSignals","uuid":"c86d71d1-4547-4ff0-abe6-2048311576a8"}],"packageUris":["http://schema.mathworks.com/mf0/streamout_blocks/R2020a"],"version":"1.0"}

1341 |

1384 |

1385 |

{"xyplotplugin":{"info":[{"series":[{"bindingParametersList":[{"parameter":"X-Axis","signalID":3361,"signalName":"X"},{"parameter":"Y-Axis","signalID":3365,"signalName":"Y"}],"seriesID":45508}],"subplotID":1}]}}

1386 |

1387 |

-1

1388 | 1389 | 1390 |

1391 |

2#out:1

1392 |

[85, 0]

1393 | 1394 |

1395 |

8#in:1

1396 | 1397 | 1398 |

1399 |

[0, -25]

1400 |

1#in:1

1401 | 1402 | 1403 | 1404 |

1405 |

4#out:1

1406 |

[53, 0]

1407 | 1408 |

1409 |

2#in:4

1410 | 1411 | 1412 |

1413 |

[0, -20]

1414 |

2#in:3

1415 | 1416 | 1417 | 1418 |

1419 |

3#out:1

1420 |

[0, 40]

1421 | 1422 |

1423 |

[58, 0]

1424 | 1425 |

1426 |

2#in:2

1427 | 1428 | 1429 |

1430 |

[0, -20]

1431 |

2#in:1

1432 | 1433 | 1434 | 1435 |

1436 |

[-43, 0; 0, -90; -47, 0]

1437 | 1438 |

1439 |

7#in:1

1440 | 1441 | 1442 |

1443 |

6#in:1

1444 | 1445 | 1446 | 1447 | 1448 |

delta

1449 |

1450 |

[1, 0]

1451 |

5#out:1

1452 |

3#in:1

1453 | 1454 | 1455 |

1456 |

1#out:1

1457 |

[30, 0]

1458 | 1459 |

104

1460 |

[0, -10; 105, 0]

1461 | 1462 |

102

1463 |

10#in:1

1464 | 1465 | 1466 |

1467 |

12#in:1

1468 | 1469 | 1470 | 1471 |

1472 |

9#in:1

1473 | 1474 | 1475 | 1476 |

1477 |

10#out:1

1478 |

[0, -20]

1479 |

5#in:1

1480 | 1481 | 1482 |

y_dot

1483 |

1484 |

[0, 1]

1485 |

12#out:1

1486 |

13#in:1

1487 | 1488 | 1489 |

x_dot

1490 |

1491 |

[0, 1]

1492 |

12#out:2

1493 |

13#in:2

1494 | 1495 | 1496 |

phi

1497 |

1498 |

[0, 1]

1499 |

12#out:3

1500 |

13#in:3

1501 | 1502 | 1503 |

phi_dot

1504 |

1505 |

[0, 1]

1506 |

12#out:4

1507 |

13#in:4

1508 | 1509 | 1510 |

1511 |

1512 |

[0, 1]

1513 |

12#out:5

1514 |

[111, 0]

1515 | 1516 |

125

1517 |

[0, 60; 99, 0]

1518 | 1519 |

129

1520 |

23#in:1

1521 | 1522 | 1523 |

126

1524 |

15#in:2

1525 | 1526 | 1527 | 1528 |

119

1529 |

13#in:5

1530 | 1531 | 1532 | 1533 |

1534 |

1535 |

[0, 1]

1536 |

12#out:6

1537 |

[83, 0]

1538 | 1539 |

118

1540 |

13#in:6

1541 | 1542 | 1543 |

116

1544 |

[0, 150; 29, 0]

1545 | 1546 |

122

1547 |

[0, 50]

1548 |

22#in:1

1549 | 1550 | 1551 |

1552 |

[2, 0]

1553 |

[0, 0; 0, -62; 83, 0]

1554 |

15#in:1

1555 | 1556 | 1557 | 1558 | 1559 |

slip ratio

1560 |

131

1561 |

[0, 0]

1562 |

12#out:7

1563 |

[39, 0; 0, 95]

1564 |

14#in:2

1565 | 1566 | 1567 |

slip ratio

1568 |

132

1569 |

[1, 1]

1570 |

12#out:8

1571 |

[19, 0; 0, 45]

1572 |

14#in:1

1573 | 1574 | 1575 |

delta_f

1576 |

[809, -167, 841, -153]

1577 |

[0, 0, 0, 0]

1578 |

-1

1579 | 1580 | 1581 | 1582 | __MWOPC_PART_BEGIN__ /simulink/windowsInfo.xml 1583 | 1584 | 1585 |

1655 | 1656 | 1657 | __MWOPC_PACKAGE_END__ 1658 | -------------------------------------------------------------------------------- /Chap5.mdl.r2019a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/1PandaDing/Matlab-simulink-/6c9bf62162b520a389c15e417feb49b6623d0cc0/Chap5.mdl.r2019a -------------------------------------------------------------------------------- /Chap_36.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/1PandaDing/Matlab-simulink-/6c9bf62162b520a389c15e417feb49b6623d0cc0/Chap_36.m -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2022 Panda DING 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Matlab-simulink-自动驾驶联合仿真（基于mpc算法） 2 | 实用carsim进行仿真，simulink基于mpc进行汽车的控制，使得汽车按照给定路径点进行运行，生成视频 3 | 4 | 其中chapter.cpar为carsim参数文件 5 | chap——36.m为simulink文件 6 | Reftra2.mat为由轨迹点生成的航向角 7 | 8 | 详细请见知乎专栏 9 | https://zhuanlan.zhihu.com/p/465956057 10 | -------------------------------------------------------------------------------- /Reftra2.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/1PandaDing/Matlab-simulink-/6c9bf62162b520a389c15e417feb49b6623d0cc0/Reftra2.mat -------------------------------------------------------------------------------- /chapter5.cpar: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/1PandaDing/Matlab-simulink-/6c9bf62162b520a389c15e417feb49b6623d0cc0/chapter5.cpar -------------------------------------------------------------------------------- /func_Model_linearization_Jacobian.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/1PandaDing/Matlab-simulink-/6c9bf62162b520a389c15e417feb49b6623d0cc0/func_Model_linearization_Jacobian.m -------------------------------------------------------------------------------- /simfile.sim: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/1PandaDing/Matlab-simulink-/6c9bf62162b520a389c15e417feb49b6623d0cc0/simfile.sim --------------------------------------------------------------------------------